CN104885346A - Method and apparatus for determining a rotor position and rotation speed of an electrical machine - Google Patents
Method and apparatus for determining a rotor position and rotation speed of an electrical machine Download PDFInfo
- Publication number
- CN104885346A CN104885346A CN201480004570.6A CN201480004570A CN104885346A CN 104885346 A CN104885346 A CN 104885346A CN 201480004570 A CN201480004570 A CN 201480004570A CN 104885346 A CN104885346 A CN 104885346A
- Authority
- CN
- China
- Prior art keywords
- stator
- motor
- rotor
- brush
- pole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K23/00—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors
- H02K23/02—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by arrangement for exciting
- H02K23/04—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by arrangement for exciting having permanent magnet excitation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K23/00—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors
- H02K23/40—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors characterised by the arrangement of the magnet circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/0094—Arrangements for regulating or controlling the speed or torque of electric DC motors wherein the position is detected using the ripple of the current caused by the commutator
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K23/00—DC commutator motors or generators having mechanical commutator; Universal AC/DC commutator motors
- H02K23/66—Structural association with auxiliary electric devices influencing the characteristic of, or controlling, the machine, e.g. with impedances or switches
Abstract
The invention relates to a brush-commutated electrical machine (2), comprising: - a rotor (5) with rotor coils (7) which are arranged on rotor poles (6); - a commutator (9) with commutator laminations (8) which are electrically connected to the rotor coils (7), and having two brushes (10) which are arranged offset in relation to one another, with the result that the brushes (10) alternately commutate when the rotor (5) moves; - a stator (4) having stator poles (11) which are arranged in the circumferential direction and at least some of which are provided with stator magnets (3), wherein the stator poles (11) are designed and/or arranged such that an alternating stator magnetic field which is generated by said stator poles in the circumferential direction is formed differently depending on the pole direction of the respective stator pole (11).
Description
Technical field
The present invention relates to brush-commutated motor, particularly for the method for the rotor-position or rotating speed of determining motor.
Background technology
Known brush-commutated electro-motor is used as the servo motor of direct current application.Therefore, such as in a motor vehicle, brush-commutated electro-motor is used as the CD-ROM drive motor of chair regulator, glass regulator, sunroof system etc.Common structure is the DC servomotor of four poles and sextupole permanent magnet excitation, and it has the commutator with two brushes.
When this type of electro-motor runs, on supply lines, create current ripple (Stromwelligkeit) due to commutation process.Current ripple corresponds to periodically, depends on the signal of the rotating speed of electro-motor, and the fundamental frequency of described signal depends on the quantity of commutator segment.Current ripple can for detecting motor rotary speed and rotor-position in without the system of transducer.
According to the quantity of the number of poles of electro-motor and the commutator segment of commutator, create extra high current ripple when brush commutates simultaneously, main time (Hauptordnung) (fundamental frequency) of described current ripple is obtained by the quantity of commutator segment and the current rotating speed of electro-motor.Alternatively, brush also can be arranged so that described brush alternately commutates, resulting in more inapparent current ripple, its main time corresponds to many times of commutator segment quantity, usually corresponds to the secondary twice of main when the alternating quantity of brush is n+1/2 commutator segment.At this, in the level given in advance by commutator segment quantity is secondary, there is detectable current ripple hardly.
For keeping low electromagnetic force excitation and associated little noise pollution, advantageously the quantity of commutator segment and the quantity of rotor pole being chosen as and brush is alternately commutated.This is owing to being particularly not suitable for running on following control appliance in the secondary lower little current ripple of the level of commutator segment quantity, and namely described control appliance uses current ripple to detect rotating speed and/or the rotor-position of electro-motor.
Summary of the invention
The object of this invention is to provide a kind of method and a kind of equipment, utilize the method and equipment can detect rotating speed and/or the rotor-position of the electro-motor of the brush with alternately commutation in an improved way.
This object is by the method for rotating speed and/or rotor-position for detecting motor according to claim 1 and realize according to the motor system of independent claims.
Other favourable designs of the present invention provide in the dependent claims.
Provide brush-commutated motor according to first aspect, it comprises:
-with the rotor of the rotor coil be arranged on rotor pole;
-with the commutator of commutator segment and two brushes, described commutator segment is electrically connected with rotor coil, and described brush is arranged with offseting one from another, thus brush alternately commutates when rotor motion;
-with the stator arranging stator poles in the circumferential, described stator poles is provided with stator magnet at least in part,
Wherein, stator poles so constructs and/or arranges, makes the stator field replaced produced in the circumferential by described stator poles depend on that the extreme direction of each stator poles form differently.
The design of above method is, stator poles is particularly differently configured with the brush of alternately commutation in brush-commutated motor in electro-motor, thus described stator poles causes the magnetic field form differently alternately.Magnetic field can be different in form, scope and intensity.
Thus achieve, current ripple, by the brush of alternately commutation usual repressed main time in by the quantity of commutator segment and the determined frequency of current rotating speed so not by force suppressed (unterdr ü ckt).The share-maintenance adopting this kind of mode to make to have the current ripple of the frequency of main time by the determined frequency range of commutator segment quantity, thus makes described share-maintenance be suitable for assessment rotating speed and/or rotor-position.Adopt this kind of mode that conventional motor control apparatus can be utilized to detect rotating speed and/or the rotor-position of electro-motor, and need not abandon by utilizing the brush staggered to carry out the obtained advantage that commutates.
Especially, the different designs of stator poles causes the voltage responded in the rotor coil that commutates on positive brush and negative brush to dissimilate.Current characteristic curve on positive brush and negative brush is also different thus, and current characteristic curve, therefore the superposition of phase shift that caused by commutation alternately cause current ripple in the main time lower decay (Abschw chung) reduced by the determined frequency of commutator segment quantity.
In addition, stator magnet can be arranged in consequent pole structure (Folgepolanordnung), wherein, between each two adjacent stator magnets, arrange that be not configured with magnet, passive (passive) stator poles, described stator poles connects (gekoppelt) with the access area (R ü ckschlussbereich) of stator.
Alternatively or additionally, stator magnet can depend on that the polarised direction (Polungsrichtung) of affiliated stator poles is configured with different magnetic field intensitys.
In addition, stator poles can depend on that its polarised direction is configured with different tangential width.
According to a kind of execution mode, stator poles adjacent in the circumferential has reciprocal extreme direction.
In addition, brush can be arranged with the alternating quantity of the n+1/2 of one of a commutator segment tangential width in the circumferential relative to commutator segment, and wherein, n is integer.
According on the other hand, provide the motor system with above motor and control appliance, the current ripple that described control appliance is configured to be flow through by assessment the motor current of motor determines rotor-position and/or rotating speed.
Accompanying drawing explanation
The preferred embodiment of the present invention is explained hereinafter with reference to the accompanying drawings in detail.In the accompanying drawings:
Fig. 1 is the schematic diagram of the motor system with motor control apparatus and electro-motor; And
Fig. 2 a and Fig. 2 b shows the feasible program for providing stator poles, and described stator poles is for generation of the different stator field depending on polarised direction.
Embodiment
Fig. 1 has the schematic diagram of electro-motor 2 as the motor system 1 of motor.Electro-motor 2 is brush-commutated d.c. motors, and it has the stator 4 being provided with one or more permanent magnet 3 and the rotor 5(Rotor rotatably supported in stator 4 inside).
Stator 4 is configured to stator poles 11, and described stator poles causes due to permanent magnet 3(stator magnet in the inside of stator 4) stator field that causes, described stator field circumferentially replaces.In the present embodiment, electro-motor 2 is configured to four stator poles 11.The execution mode substituted also can arrange more than four stator poles 11, and setting example is as six stator poles.
Rotor 5 has ten rotor pole 6(rotor tooths in the illustrated embodiment in which), described rotor pole respectively by rotor coil 7 around.Rotor coil 7 is electrically connected with two commutator segments 8 of commutator 9 respectively.By means of the brush 10 be arranged on commutator 9, commutator segment 8 and thus rotor coil 7 be electrically contacted and flow through with supply power voltage U
vers.
Brush 10 is so arranged, the commutation of rotor coil is alternately carried out when rotor 5 rotates by commutator segment 8, and namely in first inswept period above commutator segment 8 of brush 10, second of brush 10 changes from another commutator segment 8 to adjacent commutator segment.In other words, the distance of circumference between two brushes 10 along commutator 9 equals (n+1/2) individual commutator segment.Such as, in the structural scheme with ten rotor coils 7, described rotor coil is connected with ten commutator segments 8, and wherein, brush is just arranged with roughly 90 degree mutually when n=2 especially.
By control appliance 20, electro-motor 2 is run, described control appliance 20 can specify supply power voltage U by means of adjustable voltage source 21
verssize.Especially, can by regulation supply power voltage U
versregulate rotating speed and/or the load of electro-motor 2.Alternatively, such as, there is cell voltage in a motor vehicle, described cell voltage is subject to certain fluctuation especially due to certain environmental condition.In addition, the motor current I in electro-motor 2 can be detected by means of measuring resistance 22
mot, and evaluation electronics is from the anglec of rotation of the waviness detection rotor 5 of motor current signal, and generate tach signal or the position signalling of rotor or part to be regulated thus.This such as can when closing the moveable portion in motor vehicle-particularly at lifting window glass or movable scuttle time-for realizing anti-pinch protection function, described anti-pinch protection function is preferably arranged in motor control apparatus 20.Certainly, also can consider that other are for detecting motor current I
motequipment.
Such as can specify in one embodiment: motor control apparatus 20 regulates supply power voltage U with depending on the rotating speed of the electro-motor 2 detected
vers, such as, to be used for performing rotational speed regulation.This can pass through pulse width modulation (PWM) and realize.
In order to save speed probe, usually by motor current I
motcurrent ripple detect rotating speed.Current ripple moves through because of rotor coil 7 magnetic field caused by permanent magnet 3 when rotor coil 7 commutates and is formed by brush 10.Motor current I
motthe frequency of main time of current ripple directly determined by the quantity of commutator segment and rotating speed, wherein, by the layout staggered of brush 10, the frequency of main time is two times without the main secondary frequencies in brush 10 situation staggered.The frequency of the raising of the current ripple caused relative to the layout staggered of commutator segment by the brush 10 and amplitude of reduction is more difficult is detected by motor control apparatus 20.
For improving the current ripple in main time, specifying now: so differently design stator poles, making this stator poles provide magnetic field with different magnetic field intensitys.Especially, the magnetic field intensity of adjacent stator coil can adjust more by force and weaker in an alternating fashion.
This embodiment for Fig. 1 can realize in the following way, is configured with different tangential width by permanent magnet 3, thus alternately arrange in the circumferential tangential wider permanent magnet 3 and tangential narrower permanent magnet 3.
In addition, alternatively or additionally, permanent magnet 3 can be configured with different magnetized elements or be configured with different magnetic materials.Especially, when identical tangential dimension, the permanent magnet 3 pointing to rotor 5 with S pole can provide the magnetization stronger than the permanent magnet 3 pointing to rotor 5 with N pole, or vice versa.Corresponding electro-motor illustrates in fig. 2 a.
According to the layout illustrated in figure 2b, this also can be realized by the consequent pole structure of stator poles 11.In consequent pole structure, only every second stator poles 11 is provided with permanent magnet 3, and stator poles 11 is betwixt configured to consequent pole 15 by passive pole shoe everywhere.Consequent pole 15 be made up of the material of magnetic conduction and with the access area magnetic conduction of stator 4 be connected.Especially, consequent pole 15 can construct integratedly with the access area of stator 4.For this reason, such as passive pole shoe is formed by the wall material of pole tank, and described passive pole shoe is constructed especially archedly.
Preferably so construct consequent pole 15, make the stator field caused on the direction of rotor 5 provided by it have the magnetic field intensity different from the stator poles 11 formed by permanent magnet 3.
Claims (10)
1. a brush-commutated motor (2), it comprises:
-with the rotor (5) of the rotor coil (7) be arranged on rotor pole (6);
-with the commutator (9) of commutator segment (8) and two brushes (10), described commutator segment is electrically connected with described rotor coil (7), and described brush is arranged with offseting one from another, thus described brush (10) alternately commutates when described rotor (5) moves;
-with the stator (4) arranging stator poles (11) in the circumferential, described stator poles (11) is provided with stator magnet (3) at least in part,
It is characterized in that,
Described stator poles (11) is structure and/or layout so, and the stator field produced by described stator poles is form differently with depending on the different extreme directions of each stator poles (11) (-S pole, N pole).
2. motor according to claim 1, wherein, described stator magnet (3) is arranged in consequent pole structure, wherein, arrange between each two adjacent stator magnets (3) be not configured with permanent magnet passive stator poles (11) as consequent pole, described stator poles connects with the access area of described stator (4)-and especially described consequent pole formed by the wall region of the pole tank of magnetic conduction.
3. motor according to claim 1 and 2, wherein, described stator poles (11) is configured with different magnetic field intensitys with depending on its polarised direction, is formed especially by different material structures.
4. motor according to any one of claim 1 to 3, wherein, described stator poles (11) has different geometries with depending on its polarised direction, is configured to have different tangential width relative to armature spindle especially.
5. motor according to any one of claim 1 to 4, wherein, stator poles (11) adjacent in the circumferential has reciprocal extreme direction (-S pole, N pole), and is magnetized in radial directions especially.
6. motor according to any one of claim 1 to 5, wherein, described brush (10) relative to-preferably ten-commutator segment (8) arrange with the offset of n+1/2 tangential width of one of commutator segment (8) in the circumferential, preferably spend with roughly 90 or arrange roughly in 180 degree, wherein, n is integer, is preferably 2.
7., with the motor system of motor according to any one of claim 1 to 6 and control appliance (20), the current ripple that described control appliance (20) is configured to be flow through by assessment the motor current of described motor (2) determines rotor-position and/or rotating speed.
8. the voltage of the coil internal induction with the motor system of motor according to any one of claim 1 to 7, wherein, when interacting from different stator magnets (3) between negative brush and positive brush (10) is different.
9. with the motor system of motor according to any one of claim 1 to 8, wherein, the motor current produced in rotor coil (7) when interacting from different stator magnets (3) between described negative brush and positive brush (10) is also different, and thus current characteristic curve, the superposition of phase shift that caused by commutation alternately do not reduce current ripple under the level time of commutator segment quantity for another example so consumingly when stator magnet (3) of identical type.
10. with the motor system of motor according to any one of claim 1 to 9, wherein, when described rotor coil (7) interacts in the respective angles scope of described stator magnet (11) from different stator magnet (3), that produce when commutating and the ripple current of the motor current measured has different maximum amplitudes, and/or the amplitude of described ripple current does not periodically evenly change in a turn over of described rotor (5).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102013200314.5 | 2013-01-11 | ||
| DE102013200314.5A DE102013200314A1 (en) | 2013-01-11 | 2013-01-11 | Method and device for determining a rotor position and speed of an electrical machine |
| PCT/EP2014/050005 WO2014108347A1 (en) | 2013-01-11 | 2014-01-02 | Method and apparatus for determining a rotor position and rotation speed of an electrical machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104885346A true CN104885346A (en) | 2015-09-02 |
| CN104885346B CN104885346B (en) | 2018-06-08 |
Family
ID=49918704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480004570.6A Active CN104885346B (en) | 2013-01-11 | 2014-01-02 | For determining the method and apparatus of the rotor-position of motor and rotating speed |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9667127B2 (en) |
| KR (1) | KR102199259B1 (en) |
| CN (1) | CN104885346B (en) |
| DE (1) | DE102013200314A1 (en) |
| WO (1) | WO2014108347A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109643916A (en) * | 2017-01-26 | 2019-04-16 | 翰昂汽车零部件有限公司 | Brush motor |
| CN109884334A (en) * | 2019-04-09 | 2019-06-14 | 中国核动力研究设计院 | Shielding motor rotor rotating speed measurement method and system under off working state |
| CN110098701A (en) * | 2018-01-31 | 2019-08-06 | 北芝电机株式会社 | 4 pole, 2 brush motors |
| CN111185874A (en) * | 2018-11-15 | 2020-05-22 | 南京德朔实业有限公司 | Impact screwdriver, rotary impact tool and control method thereof |
| CN115668714A (en) * | 2020-05-26 | 2023-01-31 | 倍福自动化有限公司 | Flat-panel drive system and method for operating a flat-panel drive system |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013201715A1 (en) * | 2012-08-28 | 2014-03-06 | Robert Bosch Gmbh | Electric machine for motorized adjustment of moving parts in the motor vehicle, and method for producing the electric machine |
| KR101894197B1 (en) * | 2014-10-20 | 2018-08-31 | 미쓰비시덴키 가부시키가이샤 | Rotation angle detection device, rotating electrical machine, and elevator hoisting machine |
| KR102633359B1 (en) * | 2017-01-26 | 2024-02-06 | 한온시스템 주식회사 | Blower motor of air conditioning system for automotive vehicles |
| WO2018199104A1 (en) | 2017-04-27 | 2018-11-01 | アルプス電気株式会社 | Electric motor with rotation angle detector, electric motor rotation angle detector, and method for detecting rotation angle of electric motor equipped with commutator |
| CN209692443U (en) * | 2019-06-17 | 2019-11-26 | 广东肇庆爱龙威机电有限公司 | Motor |
| US11711034B2 (en) | 2020-12-01 | 2023-07-25 | Kohler Co. | Sensorless position detection for electric machine |
| DE102022210487A1 (en) * | 2022-10-04 | 2024-04-04 | Continental Automotive Technologies GmbH | Device and method for detecting the orientation of a rotor |
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| JP2013005601A (en) * | 2011-06-16 | 2013-01-07 | Asmo Co Ltd | Dc motor |
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| DE102007036253A1 (en) | 2007-08-02 | 2009-02-05 | Robert Bosch Gmbh | Electric machine with conductor loops arranged in grooves, and method for operating the electrical machine |
| US7986065B2 (en) * | 2008-06-04 | 2011-07-26 | Robert Bosch Gmbh | Sealed rolled pole housing for an electric motor |
| CN101630871B (en) * | 2008-07-18 | 2013-02-13 | 德昌电机(深圳)有限公司 | Motor |
-
2013
- 2013-01-11 DE DE102013200314.5A patent/DE102013200314A1/en active Pending
-
2014
- 2014-01-02 WO PCT/EP2014/050005 patent/WO2014108347A1/en active Application Filing
- 2014-01-02 KR KR1020157018554A patent/KR102199259B1/en active IP Right Grant
- 2014-01-02 CN CN201480004570.6A patent/CN104885346B/en active Active
- 2014-01-02 US US14/759,613 patent/US9667127B2/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4372035A (en) * | 1979-10-05 | 1983-02-08 | Ambac Industries, Incorporated | Method for making an electric motor housing with integral pole |
| FR2910192A1 (en) * | 2006-12-15 | 2008-06-20 | Valeo Equip Electr Moteur | Six pole direct current electrical rotating machine i.e. direct-drive starter, for motor vehicle, has stator with magnetized structure including sector with magnetization direction different from radial and orthoradial directions of stator |
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| DE102008021071A1 (en) * | 2008-04-26 | 2009-11-05 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt | Electric motor i.e. brush commutated electric motor, for use as actuating drive of motor vehicle, has brush commutator provided with brushes, which are movably arranged at brush offset angle to each other |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109643916A (en) * | 2017-01-26 | 2019-04-16 | 翰昂汽车零部件有限公司 | Brush motor |
| CN110098701A (en) * | 2018-01-31 | 2019-08-06 | 北芝电机株式会社 | 4 pole, 2 brush motors |
| CN111185874A (en) * | 2018-11-15 | 2020-05-22 | 南京德朔实业有限公司 | Impact screwdriver, rotary impact tool and control method thereof |
| CN111185874B (en) * | 2018-11-15 | 2023-09-08 | 南京泉峰科技有限公司 | Impact screw driver, rotary impact tool and control method thereof |
| CN109884334A (en) * | 2019-04-09 | 2019-06-14 | 中国核动力研究设计院 | Shielding motor rotor rotating speed measurement method and system under off working state |
| CN115668714A (en) * | 2020-05-26 | 2023-01-31 | 倍福自动化有限公司 | Flat-panel drive system and method for operating a flat-panel drive system |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102013200314A1 (en) | 2014-07-17 |
| US20150349617A1 (en) | 2015-12-03 |
| US9667127B2 (en) | 2017-05-30 |
| WO2014108347A1 (en) | 2014-07-17 |
| CN104885346B (en) | 2018-06-08 |
| KR102199259B1 (en) | 2021-01-07 |
| KR20150104112A (en) | 2015-09-14 |
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